From 66934dc353bf75b413373908fc9a71aeea985478 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 23 May 2024 10:43:23 +1000 Subject: [PATCH] Add target ID for NAV_CMD_SET_CAMERA_MODE --- src/modules/navigator/navigator_main.cpp | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 3cf394327fe6..1de857c862d1 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1407,7 +1407,17 @@ void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd) if (target_camera_component_id > 0 && target_camera_component_id < 256) { vcmd->target_component = target_camera_component_id; + } else { + vcmd->target_component = 100; // MAV_COMP_ID_CAMERA + } + + break; + case NAV_CMD_SET_CAMERA_MODE: + target_camera_component_id = static_cast(vcmd->param1); // Target id from param 1 + + if (target_camera_component_id > 0 && target_camera_component_id < 256) { + vcmd->target_component = target_camera_component_id; } else { vcmd->target_component = 100; // MAV_COMP_ID_CAMERA } @@ -1419,7 +1429,6 @@ void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd) if (target_camera_component_id > 0 && target_camera_component_id < 256) { vcmd->target_component = target_camera_component_id; - } else { vcmd->target_component = 100; // MAV_COMP_ID_CAMERA }